Kickoff friendly play fsm cleaned

[Muxite]

Description

DONT REVIEW IT Convert kickoff-friendly-play to fsm, and convert kickoff-enemy-play to fsm, and add functionality to both. DONT REVIEW THIS, was told to make PR to fix commit issues.

Testing Done

Need to write tests. Made this pull request to fix a lot of commit issues and compare with master.

Resolved Issues

3287 & 3296

Length Justification and Key Files to Review

stuff in kickoff_friendly and kickoff_enemy

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• [ ] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [ ] Remove all commented out code
• [ ] Remove extra print statements: for example, those just used for testing
• [ ] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[Andrewyx]

Okay I just saw the "Don't Review Tag" If there are ANY files to review for this PR please list them explicitly in the desc. Otherwise, if this is not yet ready for a review, please convert this to a draft PR.